where the state \(\pi _{i,\mathcal {R}}^k\in \Pi _{i,\mathcal {R}}\) , \(\forall k=0,1,\cdots ,K_i\)  and \(K_i>0\)  is the total length, \(\pi _{i,\mathcal {R}}^0\,\pi _{i,\mathcal {R}}^1 \cdots \pi _{i,\mathcal {R}}^{k_i-1}\)  is the prefix executed only once and \(\pi _{i,\mathcal {R}}^{k_i}\,\pi _{i,\mathcal {R}}^{k_i+1}\cdots \pi _{i,\mathcal {R}}^{K_i}\)  is the suffix to be repeated infinitely often. \(\tau _{i,\mathcal {R}}\)  provides an infinite sequence of motion and data-gathering actions to be performed by robot \(i\) . Software implementation details can be found in [1]}, [2]}.
